Diff: CAN/function_CAN.cpp

Revision:

66:a8e6799dbce3

Parent:

60:64181f1d3e60

Child:

67:c2812cf26c38

--- a/CAN/function_CAN.cpp	Tue Apr 14 01:07:30 2020 +0000
+++ b/CAN/function_CAN.cpp	Tue May 12 06:23:46 2020 +0000
@@ -20,8 +20,12 @@
 
 // variables
 uint8_t can_index = 0;
+extern DigitalOut LED;
 
-extern DigitalOut LED;
+//extern int num_input;
+//extern int num_input_array;
+extern float input[];
+extern float x_future[];
 
 /*******************************************************************************
  * CAN functions
@@ -690,6 +694,11 @@
             flag_delay_test = 1;
             break;
         }
+        case CRX_SET_NN_CONTROL_FLAG: {
+            NN_Control_Flag = (int16_t) msg.data[1];
+            CONTROL_UTILITY_MODE = 1;
+            break;
+        }
 
     default:
         break;
@@ -722,6 +731,17 @@
         
         torq.ref = (double)temp_torq * 0.1f;
         
+        x_future[0] = pos.sen/(float)(ENC_PULSE_PER_POSITION);  //mm
+        for(int i=1;i<num_input_array-1;i++){
+            x_future[i] = x_future[i+1];
+        }
+        x_future[num_input_array-1] = pos.ref/(float)(ENC_PULSE_PER_POSITION);  //mm
+        
+        for(int i=0;i<num_input;i++){
+            input[i] = (x_future[2*i+2] - x_future[0])*0.2f+0.5f;
+        }
+
+        
     } else if(address==CID_RX_REF_VALVE_POS) {
         int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);